# order is:
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0

# Root(body)
0.000000 1.035000 0.000000
1.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.000000
0.000000 0.000000 0.000000

# body_neck
0.9848 0.1736 0.000000 0.000000
0.000000 0.000000 0.000000

# lHip
# rot by X, followed by a rotation by Y and then one by Z gives this result...
0.9917 -0.0879 0.0811 0.0469
0.000000 0.000000 0.000000

# rHip
0.9917 -0.0879 -0.0811 -0.0469
0.000000 0.000000 0.000000

# lShoulder
0.9848 0.1736 0.000000 0.000000
0.000000 0.000000 0.000000

# rShoulder
0.9848 0.1736 0.000000 0.000000
0.000000 0.000000 0.000000

# tail_1
0.9986 0.0523 0 0.000000 
0.000000 0.000000 0.000000

# neck_head
0.9903 -0.1392 0.000000 0.000000
0.000000 0.000000 0.000000

# lKnee
0.9063 0.4226 0.0000 0.0000
0.000000 0.000000 0.000000

# rKnee
0.9063 0.4226 0.0000 0.0000
0.000000 0.000000 0.000000

# lElbow
0.9397 -0.3420 0.0000 0.0000
0.000000 0.000000 0.000000

# rElbow
0.9397 -0.3420 0.0000 0.0000
0.000000 0.000000 0.000000

# tail_2
0.9998 -0.0175 0.000000 0.000000
0.000000 0.000000 0.000000

# lAnkle
0.9063 -0.4226 0.000000 0.000000
0.000000 0.000000 0.000000

# rAnkle
0.9063 -0.4226 0.000000 0.000000
0.000000 0.000000 0.000000

# tail_3
0.9998 -0.0175 0.000000 0.000000
0.000000 0.000000 0.000000

# lToes
0.9986 0 0.000000 -0.0523
0.000000 0.000000 0.000000

# rToes
0.9986 0 0.000000 0.0523
0.000000 0.000000 0.000000

# tail_4
0.9998 -0.0175 0.000000 0.000000
0.000000 0.000000 0.000000

# tail_5
0.9998 0.0175 0.000000 0.000000
0.000000 0.000000 0.000000

# tail_6
0.9998 0.0175 0.000000 0.000000
0.000000 0.000000 0.000000

